Method of non-destructive imaging of the internal structure and device for carrying out the method

Abstract

The invention relates to non-destructive imaging of the internal structure for safe and intuitive operator work. In the context of the invented method, electronic scanning first creates a virtual image of the surface of the object (5) whose internal structure is the subject of research. Part of the surface of the object (5) and the angle of scanning are set by voice or by movement of the operator's body (9). The virtual image of the surface of the object (5) is subsequently projected in the stereoscopic glasses (7), followed by creation of the virtual image of the internal structure of the object (5) for the same angle of scanning. The virtual image of the internal structure is projected in the virtual image of the surface of the object (5), or replaces the virtual image of the object (5).

Claims

1. The method of non-destructive imaging of the internal structure for safe and intuitive operator work characterized in that it comprises the following steps: a) At least part of the object is placed in the scanning area; b) At least part of the surface of the object placed in the scanning area is electronically scanned to create a virtual image of the surface, while setting the direction of the scanning angle of the surface of the object and the currently scanned part of the surface of the object by manipulating said virtual image by voice or movement of at least part of the operator's body; c) At the same time, the virtual image of the surface is projected into a visualization tool for visualizing the virtual image to the operator; d) For projected virtual image of the surface, a virtual image of at least part of the internal structure of the object is created at the same angle of scanning by non-destructive imaging; e) The virtual image of the internal structure in the projection in the visualisation tool is combined with the projected virtual image of the surface.

2. The method according to claim 1, characterized in that, the virtual image of the surface replaces in the projection in the visualisation tool the virtual image of the internal structure.

3. The method according to claim 1 characterized in that as part of the process step (b) the surface of the object is scanned in three dimensions.

4. The method according to claim 1 characterized in that as part of the process step (b) the shape of the surface of the object and the texture of the surface of the object are scanned.

5. The method according to claim 1 characterized in that in the projection in the visualisation tool, it is possible to arbitrarily switch between virtual images of the process steps (c, d).

6. The method according to claim 1 characterized in that the surface of the object is electronically scanned for virtual imaging by at least one camera working on the principle of scanning the light in the visible spectrum.

7. The method according to claim 1 characterized in that the surface of the object is electronically scanned for virtual imaging by at least one scanner to generate a three-dimensional surface model.

8. The method according to claim 1 characterized in that the movement of hand, leg, head or the overall movement of operator's body is electronically scanned.

9. The method according to claim 1 characterized in that in the projection of virtual image in the visualisation tool as part of the process steps (c, e), the scale of virtual image is set.

10. The method according to claim 1 characterized in that the virtual images of internal structure of the process step (d) are archived.

11. The method according to claim 1 characterized in that in the projection of virtual image in the visualisation tool, at least one area of interest is indicated by voice or movement of body parts for subsequent automated laminography or computed tomography.

12. The device for carrying out the method according to claim 1, comprising at least one source (1) of radiation of the penetrating form of energy connected to the control unit (2) for controlling operation of the source (1) of radiation, at least one detector (3) of the penetrating form of energy connected to the control unit (2) for storing the image of the detected radiation, at least one adjustable robotic arm (4) for supporting the source (1) of radiation and detector (3), which is connected to the control unit (2) for controlling its operation, with the scanning area positioned between the source (1) of radiation and the detector (3) for inserting the object (5) characterized in that the control unit (2) comprises a computer with at least one data repository having stored at least one SW module for virtual imaging of the scanned surface of the object (5) and at least one SW module for virtual imaging of the scanned internal structure of the object (5), with at least one tool (6) for scanning at least part of the surface of the object (5) being connected to the control unit (2); in addition, the visualization tool for projecting the virtual image and at least one actuating device (8) for transmitting voice or motion instructions of the operator (9) to the control unit (2) are connected to the control unit (2) in order to move the robotic arm with the detection (3) and the source (1) of radiation such that the virtual image of at least part of the internal structure of the object is created at the same angle of scanning.

13. The device according to claim 12 characterized in that the source (1) of radiation of the penetrating form of energy is adapted for emission of ultrasonic waves, or X-rays, or gamma rays, or neutron radiation.

14. The device according to claim 12 characterized in that the actuating device (8) consists of a motion sensor, a sound sensor.

15. The device according to claim 12 characterized in that the tool (6) for scanning at least part of the surface of the object (5) is composed of a camera, or a scanner, and the visualization tool is composed of a display or stereoscopic glasses (7).

16. The device according to claim 12 characterized in that the tool (6) for scanning at least part of the surface of the object (5) is arranged to a robotic arm.

17. The device according to claim 12 characterized in that at least one SW module is stored on a data repository to recalculate the scale of virtual image in the projection in stereoscopic glasses (7).

18. The device according to claim 12 characterized in that the data repository is provided with at least one database to archive virtual images.

19. The device according to claim 12 characterized in that at least one SW module is stored on a data repository with a motion control program for the robotic arms (4) and the source (1) of radiation with the detector (3) to conduct laminography or computed tomography.

Description

EXPLANATION OF DRAWINGS

[0038] The present invention will be explained in detail by means of the following FIGURES where:

[0039] FIG. 1 shows a schematic representation of the device according to the invention.

EXAMPLE OF THE INVENTION EMBODIMENTS

[0040] It shall be understood that the specific cases of the invention embodiments described and depicted below are provided for illustration only and do not limit the invention to the examples provided here. Those skilled in the art will find or, based on routine experiment, will be able to provide a greater or lesser number of equivalents to the specific embodiments of the invention which are described here. Also such equivalents will be included in the scope of the following claims.

[0041] FIG. 1 shows the source of radiation 1 fixed to the robotic arm 4. In this particular embodiment of the invention, the source 1 of radiation may be the electrically powered X-ray tube, but in other examples of embodiment of the invention, the source 1 of radiation may be, for example, the radioactive isotope, ultrasound generator, etc. An expert in the field of forms of penetrating energy will be able to select other alternatives for the source 1 of radiation that can be used for imaging the internal structure of the object 5. In the propagation direction of radiation, the image detector 3 is arranged behind the scanning area. The detector 3 may consist of an array without peripheral pixel semiconductor detector units, which convert the incident radiation into the electrical charge that is subsequently converted by reading chip into an electric signal for the control unit 2. The detector 3 is also carried by the robotic arm 4.

[0042] In another unillustrated embodiment of the invention, only one robotic arm 4 may be used, which carries both the source 1 and the detector 3 of penetrating radiation, or two or more robotic arms 4, which are located on one side of the examined object 5. It may be ultrasound, X-ray, gamma rays or another type of penetrating radiation. In this case, radiation reflections or scattering in the object 5 are detected or the secondary radiation (e.g. X-ray fluorescence) is detected.

[0043] The robotic arms 4 have a fixed base and are divided into movably interconnected segments, with their mutual movability ensuring the degrees of freedom of movement in space. The basic position of the robotic arms 4 is optional. The robotic arms 4 are a catalogue item for an expert and the expert will be able to routinely select the appropriate robotic arms 4.

[0044] The object 5 is located in the scanning area. If the size of the object 5 is less than the size of the scanning area, the whole object 5 will be placed in the scanning area; in another unillustrated embodiment of the invention, the object 5 may be, for example, the blade of the wind power station or the wing of aircraft, which are inserted into the scanning area only partially. The object 5 may be self-supporting, for example, the free end of the fan blade of the wind power station, or can be placed on a suitable table for holding it in the scanning area.

[0045] The device is provided with the tool 6 for scanning the surface of the object 5. The tool 6 can be the scanner for scanning the shape of the object 5. The scanner sends the scanned data to the control unit 2, which then creates a three-dimensional virtual image of the object 5 for virtual reality. The scanner can be, for example, manual, or the scanning area can be fitted with stationary scanners, or the scanner can be mounted to the robotic arm 4. Scanners obtain information on the 3D surface, for example, using a laser beam. In another variant, optical cameras mounted on the robotic arms 4 are used instead of the scanner as the tool 6 for scanning the surface of the object 5. In the case of using the camera for visible light located on the robotic scanning arm 4 or arms 4, virtual three-dimensional image is not used but the camera image is directly transferred to the operator's projection glasses 7, while the scale of view can be changed by changing the focal distance of the objective.

[0046] The image of the object 5, obtained either by visualization of 3D surface, or from the camera(s), can be projected on a classical display. The operator 9 controls the angle of view either by changing his/her position in the virtual world, or by means of other suitable 3D actuating device 8, e.g. 3D mouse.

[0047] The control unit 2 is composed of a classical computer, which consists of processors for processing tasks according to SW modules, as well as operating memories, graphics cards to generate virtual reality, data repositories, motherboard with connectors, etc. The expert will be able to define the necessary components of a computer. At least one SW module is stored on the data repository for processing the input data and for the virtual image of the surface and internal structure of the object 5 in virtual reality.

[0048] Virtual means apparent, so the virtual image is the apparent image generated electronically, which is projected as an image to the operator's 9 eyes by display or glasses 7. The virtual image of the actual object 5 copies everything as if it were observation of the actual object 5, while virtual reality allows operations that are not real in the actual world, for example, observer reduction, observer teleportation. Scanned images from classical camera are actually a virtual copy of the actual state of things.

[0049] The operator 9 is provided with glasses 7 to produce a stereoscopic image of virtual reality directly into his/her field of vision as well as with actuating devices 8, held by the operator 9 or fastened, for example, in gloves or to shoes, for recording the movement of his/her body. Simultaneously, the actuating device 8 may comprise the microphone for scanning voice commands incorporated in glasses 7 or elsewhere within reach of sound.

[0050] The invention works such that the virtual image of the surface of the object 5 is first created, which is made from the set of data obtained by scanning with the use of the surface scanning tool 6. Subsequently, the operator 9 puts on glasses 7 to view in virtual reality and, for example, gloves with actuating devices 8. The operator 9 views the displayed model and can simultaneously manipulate it by scanning the movement of hands and fingers by actuating devices 8 or can move around the object 5 if the scale of the object 5 is selected greater than the scale of the observer in virtual reality. To examine the object 5, optical cameras mounted on the robotic arms 4 can be used instead of a three-dimensional model.

[0051] Once the operator 9 becomes sufficiently familiar with the virtual image of the surface of the object 5, he/she may start the source 1 of radiation and the detector 3, which start to generate data for creating the virtual image of the internal structure of the object 5. The solid angle of view of the operator's eye of the virtual image is the same as the angle of scanning of the detector 3 against the object 5. The current virtual image of the internal structure is projected into the virtual image of the surface, so the illusion is such as if the operator 9 looks with his/her eyes at the actually transparent object 5. Any rotation of the virtual image, the angle of view of the observer or his/her distance from the object 5 in virtual reality is concurrently copied by movement of the robotic arms 4 with the detector 3 and the source 1 of radiation.

[0052] For images in virtual reality, the operator 9 can change the scale into a more detailed scale for examination of the details, or zoom out the virtual image of the object 5 to obtain an overall view.

[0053] In the virtual environment, other tools that are common in the virtual world can be used such as teleportation from one place of the object 5 to be imaged to another place, etc.

[0054] During the session, the virtual images of the internal structure are archived on the data repository of the control unit 2 for their repeated display or further data processing.

[0055] Another tool of virtual reality may be the marking of the areas of interest that are automatically examined at the end of the session, for example, by means of laminography or computed tomography.

INDUSTRIAL APPLICABILITY

[0056] The method of non-destructive imaging of the internal structure in a virtual reality and the device for carrying out this method according to the invention will be applied in industry and in research. For example, in non-destructive testing of newly manufactured parts or parts requiring re-inspection of their internal structures.

OVERVIEW OF THE INDEXES

[0057] 1 radiation source [0058] 2 control unit [0059] 3 detector [0060] 4 robotic arm [0061] 5 object [0062] 6 electronic object surface scanning tool [0063] 7 glasses [0064] 8 actuating device [0065] 9 operator [0066] angle of view